EP1038123A1 - Engrenage planetaire - Google Patents

Engrenage planetaire

Info

Publication number
EP1038123A1
EP1038123A1 EP98964502A EP98964502A EP1038123A1 EP 1038123 A1 EP1038123 A1 EP 1038123A1 EP 98964502 A EP98964502 A EP 98964502A EP 98964502 A EP98964502 A EP 98964502A EP 1038123 A1 EP1038123 A1 EP 1038123A1
Authority
EP
European Patent Office
Prior art keywords
gear
toothing
ring
areas
teeth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP98964502A
Other languages
German (de)
English (en)
Other versions
EP1038123B1 (fr
Inventor
Horst Schulz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP1038123A1 publication Critical patent/EP1038123A1/fr
Application granted granted Critical
Publication of EP1038123B1 publication Critical patent/EP1038123B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2863—Arrangements for adjusting or for taking-up backlash
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/128—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using axial positioning of gear wheel with addendum modification on gear width, i.e. backlash is compensated by axial positioning of a slightly conical gear wheel

Definitions

  • the invention relates to a planetary gear according to the preamble of claim 1.
  • Planetary gears of this type are generally known. As a rule, several planet gears are distributed over the circumference. They have two tooth areas that are in constant mesh with the two ring gears. The planet gears form a so-called Wolfrom coupling gear with the ring gears. The speed ratio of the planet carrier to the ring gear provided for the output is referred to as the Wolfrom ratio. As a rule, a sun gear engages directly in a toothing area of the planet gears and forms a pre-translation with these and the fixed ring gear. The Wolfrom translation multiplied by the pre-translation gives the total translation of the planetary gear. The pre-translation can be extended by a gear stage between the sun gear and the planet gears (DE 196 03 004 AI).
  • a larger pre-translation makes it possible to keep the Wolfrom translation smaller with the same overall translation.
  • the difference in the tooth numbers of the two ring gears can be chosen larger.
  • a larger difference in the number of teeth enables more planets to be mounted, which increases the transmission density, the ratio of the transferable power to the construction volume.
  • the highest demands are placed on the gearbox. Since they are often arranged in or on support arms or other moving components, they themselves should be very light and take up little installation space.
  • Compact design with a high transmission density favors the dynamic behavior with fast movements and changes in load direction. Small masses and low moments of inertia allow large accelerations with low drive power and lead to relatively little heating when braking. As a result of this and due to its good efficiency and low heat development, the robot quickly reaches its low, constant operating temperature, which guarantees reliable, precise operation throughout the entire operating time.
  • a planetary gear for use in industrial robots is known. It is designed as a Wolfrom gear and therefore has two side by side other arranged ring gears, one of which is fixedly connected to the housing, while the other is rotatably mounted via a crossed roller bearing.
  • the two ring gears which have a slightly different number of teeth, mesh with several stepped planet gears distributed over the circumference.
  • the two toothed areas of the stepped planet and the toothing of the associated ring gears are conical, ie the lateral surfaces of the toothing are inclined to the axis of rotation, in the opposite direction, so that the axial forces occurring in the stepped planet can balance each other and do not require any special axial bearings.
  • the angle of inclination of the conical toothings is chosen so that the larger diameters of the toothing areas are adjacent.
  • the toothed area of the stepped planet gear which meshes with the fixed ring gear, engages in the toothing of a sun gear which is seated on a drive shaft and is also conical. Due to the conical design of the stepped planet, they center without play in the toothing, so that a large play can be provided axially towards the planet carrier, which facilitates assembly. Furthermore, they can adjust themselves to an ideal load distribution even under changed operating conditions.
  • the toothed areas of the stepped planet gear are axially separated from one another by a toothless intermediate zone and are radially offset from one another.
  • Such planets with toothing areas to be produced separately are with regard to the required precision and stiffness usually only with increased effort and difficult to manufacture.
  • the invention is therefore based on the task of simplifying the manufacture of the planet gears, taking into account the different engagement ratios in both ring gears. Further refinements result from the subclaims.
  • the toothing of the two ring gears and the toothing areas of the planet gear have the same module. Furthermore, the toothing areas are matched to one another in such a way that the toothing of the planet gears merge into one another without offset. This can be achieved by a suitable profile shift. Since the adjacent end regions of the toothed regions of the planet gear merge into one another with a bend, but without a shoulder, they can be manufactured more easily with high precision.
  • the planetary axes are arranged parallel to the main transmission axis. Particularly in the case of planetary gears in which the number of teeth differences between the ring gears is greater than three, it may be expedient to incline the planetary axes to the drive axis in such a way that the ring gear with the larger number of teeth has a larger center distance.
  • the inclination of the planetary axes helps to reduce the differences in the operating pressure angles of the two ring gear interventions.
  • inclined planet gear axles in connection with cylindrical planet gears are known from DE 24 25 295 AI. They are used there to stop the game.
  • the toothing of the planetary gear merges with one another without offset, the teeth are very stable and stable, so that the toothing areas can be reduced in axial extension, as a result of which the entire transmission is shorter, stiffer and less vibratory. It is expedient to choose the toothed area of the planet gear, which is assigned to the ring gear with the larger number of teeth, significantly wider than the other toothed area, so that it is better adapted to the different loads and engagement conditions.
  • the toothed areas of the planetary gear are clearly designed asymmetrically in order to achieve different, average toothing diameters of the two toothed areas according to the different, assigned rolling radii due to the different toothing widths and cone inclination angles.
  • the free space between the ring gears can be used to widen the one toothing area of the planet gear.
  • the stepped planets are helically toothed.
  • the helical gearing should preferably have the same sense of direction and approximately the same pitch dimensions.
  • the Wolfrom ratio can be reduced if the sun gear drives the planet gear via an intermediate stage, which is expediently designed as a bevel gear stage.
  • an embodiment of the invention is shown. The description and claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into useful further combinations.
  • Fig. 1 shows a longitudinal section through a planetary gear according to the invention.
  • a planetary gear 1 has a Wolfrom ratio, consisting of a first ring gear 3, which is fixedly connected to a housing 2, and a second, rotatable ring gear 7, which is rotatably mounted in the housing 2 via a crossed roller bearing 20.
  • At least one planet gear 9 meshes with the two ring gears 3 and 7 and has a first toothing area 10 which is assigned to a toothing 6 of the first ring gear 3, while a second toothing area 11 of the planet gear 9 engages in a toothing 8 of the second ring gear 7.
  • Only one planet gear is required for the function, several planet gears distributed over the circumference are generally used.
  • the number of planets that can be mounted depends on the difference in the number of teeth of the two ring gears 3 and 7, and more planets can be mounted with an increasing number of teeth. However, the higher number of planet gears results in a good transmission density.
  • the planet gear 9 meshes with its toothed area 10 with a sun gear 15 on a drive shaft 16.
  • the second ring gear 7 has an output flange 18 which is sealed off from the housing 2 by a seal 24.
  • the planet gears 9 are on a bearing pin 12 with roller bearings 13 mounted in a freely rotating planet carrier 14.
  • the planet carrier 14 has axial play with respect to the planet gear 9 and is centered by the toothing areas 10 and 11 and the toothing 6 and 8 of the ring gears 3 and 7.
  • the toothings 6, 8, 10, 11 are conical for this purpose, the cone inclination angles ⁇ and ⁇ being in opposite directions, so that the axial forces in the planet gear 9 balance each other and do not require any axial bearings.
  • the two toothed areas 10, 11 of the planet gear 9 and the teeth 6, 8 of the two ring gears 3, 7 have the same module. Furthermore, the toothing areas 10, 11 have the same number of teeth. They are matched to one another in such a way that they merge into one another without offset.
  • the effective flank diameters can be matched to one another by a suitable profile shift in such a way that the toothing regions 10, 11 merge into one another in the region of a boundary plane 21 with a kink, but without an offset. This simplifies production and improves the stability of the teeth.
  • Due to the intermeshing toothed areas 10, 11, the ring gears 3, 7 can also have a very small axial distance, as a result of which the overall length and the weight are reduced and the rigidity of the drive increases.
  • the Nut inclination angle ⁇ on the ring gear 7 with the larger number of teeth is greater than the cone inclination angle ⁇ on the other ring gear 3.
  • the width 26 of the toothing area 11 is significantly larger than the width 25 of the toothing area 10.
  • the Boundary plane 21 between the toothed areas 10, 11 is shifted to the ring gear 3 with the smaller number of teeth, so that the free space between the ring wheels 3, 7 is used for widening the toothed area 11.
  • the planetary gear axis 23 can be inclined to the drive axis 17 by an inclination angle ⁇ , so that the ring gear 7 with the larger number of teeth has a larger center distance.
  • the inclined planet gear axis 23 helps to mitigate the differences in the operating pressure angles of the two ring gear interventions.
  • the ring gear 3 also has a centering collar 4, which serves to receive a housing part, not shown, and in which a sealing ring 5 is inserted.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

Engrenage planétaire (1) comportant une première couronne fixe (1), une deuxième couronne adjacente rotative (7), qui présentent toutes deux des dentures (6, 8) légèrement coniques, opposées à l'axe d'entraînement (17), avec des nombres de dents légèrement différents. Cet engrenage comporte également au moins un satellite (9) entraîné par une roue planétaire (15) et présentant deux zones dentées coniques (10, 11) correspondant aux couronnes (3, 7). Ces zones dentées viennent en prise avec la denture d'une des couronnes (3, 7) et présentent le même nombre de dents. L'invention vise à simplifier la production des satellites (9) en prenant en considération les différents rapports d'engrènement des deux couronnes (3, 7). A cet effet, les dentures (6, 8) des deux couronnes (3, 7) et les zones dentées (10, 11) du satellite (9) présentent un module identique, et les zones dentées (10, 11) sont adaptées l'une à l'autre de sorte que la transition entre les deux s'effectue sans décalage.
EP98964502A 1997-12-20 1998-12-12 Engrenage planetaire Expired - Lifetime EP1038123B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19756967 1997-12-20
DE19756967A DE19756967A1 (de) 1997-12-20 1997-12-20 Planetengetriebe
PCT/EP1998/008115 WO1999032800A1 (fr) 1997-12-20 1998-12-12 Engrenage planetaire

Publications (2)

Publication Number Publication Date
EP1038123A1 true EP1038123A1 (fr) 2000-09-27
EP1038123B1 EP1038123B1 (fr) 2001-10-31

Family

ID=7852797

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98964502A Expired - Lifetime EP1038123B1 (fr) 1997-12-20 1998-12-12 Engrenage planetaire

Country Status (3)

Country Link
EP (1) EP1038123B1 (fr)
DE (2) DE19756967A1 (fr)
WO (1) WO1999032800A1 (fr)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19928385A1 (de) * 1999-06-21 2000-12-28 Zahnradfabrik Friedrichshafen Planetengetriebe
DE10110644A1 (de) * 2001-03-06 2002-09-19 Alpha Getriebebau Gmbh Planetengetriebe
NL1026324C2 (nl) * 2004-06-03 2005-12-06 Iku Holding Montfoort Bv Werkwijze voor het assembleren van een tandwieloverbrenging, alsmede tandwieloverbrenging.
DE102004034099A1 (de) * 2004-07-15 2006-02-16 Zf Friedrichshafen Ag Getriebe für eine Aktivlenkung für Fahrzeuge
DE102004061817B4 (de) * 2004-12-22 2017-06-01 Robert Bosch Gmbh Getriebevorrichtung, insbesondere Planetengetriebe mit verbessertem Aufbau
US7507180B2 (en) 2006-05-10 2009-03-24 The Boeing Company Epicyclic gear transmission for rotary wing aircraft
DE102008035114A1 (de) * 2008-07-28 2010-02-04 Magna Powertrain Ag & Co Kg Spielarmes Planetengetriebe und Wankstabilisator mit einem solchen Planetengetriebe
IT1392746B1 (it) * 2009-01-23 2012-03-16 Apex Dynamics Inc Trasmissione epiciclica, in particolare riduttore silenzioso, preciso, affidabile e durevole
DE102010001750A1 (de) * 2010-02-10 2011-08-11 ZF Friedrichshafen AG, 88046 Anordnung zum Antrieb eines Fahrzeugrades mit einem Antriebsmotor
DE102012005495A1 (de) 2012-03-17 2013-09-19 Daimler Ag Getriebe sowie Hubkolben-Verbrennungskraftmaschine mit einem solchen Getriebe
DE102012215775A1 (de) * 2012-09-06 2014-03-06 Zf Friedrichshafen Ag Stellgetriebe
EP2796750B1 (fr) * 2013-04-25 2020-01-01 Swepart Transmission AB Train épicycloïdal
EP3101313B1 (fr) * 2015-06-04 2022-07-06 Swepart Transmission AB Transmission
ITUB20153713A1 (it) * 2015-09-17 2017-03-17 Samp Spa Con Unico Socio Riduttore epicicloidale di precisione
CH713175A1 (de) * 2016-11-21 2018-05-31 Marenco Swisshelicopter Ag Kraftübertragungseinrichtung für ein Helikopterrotorgetriebe.
CH713177A1 (de) 2016-11-21 2018-05-31 Marenco Swisshelicopter Ag Rotormast.
JP2019074197A (ja) * 2017-10-19 2019-05-16 日本電産コパル株式会社 動力伝達装置
DE102017222811A1 (de) * 2017-12-14 2019-06-19 Robert Bosch Gmbh Lenkgetriebe und Lenksystem für ein Kraftfahrzeug
CN113404819A (zh) * 2021-06-29 2021-09-17 重庆大学 一种可调隙斜齿轮减速器

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3387935B2 (ja) * 1991-07-08 2003-03-17 株式会社東芝 遊星歯車装置
DE4325295A1 (de) * 1993-07-28 1995-02-02 Zahnradfabrik Friedrichshafen Spielfreies Planetengetriebe
DE19510499A1 (de) * 1995-03-23 1996-09-26 Zahnradfabrik Friedrichshafen Planetengetriebe
DE19525831A1 (de) * 1995-07-15 1997-01-16 Zahnradfabrik Friedrichshafen Planetengetriebe
DE19603004A1 (de) * 1996-01-27 1997-07-31 Zahnradfabrik Friedrichshafen Planetengetriebe

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9932800A1 *

Also Published As

Publication number Publication date
DE59802002D1 (de) 2001-12-06
WO1999032800A1 (fr) 1999-07-01
DE19756967A1 (de) 1999-06-24
EP1038123B1 (fr) 2001-10-31

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